Robot-friendly building, map generation method and system for robot operation

Abstract

The map generation method according to the present invention may include a step of receiving a map editing request for a specific floor among a plurality of floors of a building, a step of providing an editing interface including at least a part of a specific map corresponding to the specific floor on a display unit of an electronic device in response to the editing request, a step of identifying at least one node group assignable on the specific map based on a node rule corresponding to the spatial characteristics of the specific floor, and a step of performing a node placement process so that nodes included in the node group are placed on the specific map.

Description

Technical Field

[0001] The present invention relates to a map generation method and system for robot operation, which enables a robot providing services in a building to conveniently and efficiently create a map (Map) that can be utilized for planning global movement routes and regional movement routes.

Background Art

[0002] With the progress of technology, various service devices have emerged. In particular, recently, technological development for robots performing various operations or services has been actively carried out.

[0003] More recently, with the development of artificial intelligence technology, cloud technology, etc., it has become possible to control robots more precisely and safely, and thereby the utilization rate of robots has been gradually increasing. In particular, due to the development of technology, robots have reached a level where they can coexist safely with humans in indoor spaces.

[0004] As a result, recently, robots have been replacing human operations or tasks, and in particular, various methods in which robots directly provide services to people in indoor spaces have been actively studied.

[0005] For example, in public places such as airports, railway stations, department stores, etc., robots provide route guidance services, and in restaurants, robots provide food delivery services. Furthermore, in office spaces, shared living spaces, etc., robots provide delivery services such as delivering mail and home deliveries. In addition to this, robots provide various services such as cleaning services, security services, logistics processing services, etc. It is expected that the types and scope of services provided by robots will increase dramatically in the future, and the service level will continue to develop.

[0006] Such robots provide various services not only in outdoor spaces but also in indoor spaces of buildings (or buildings) such as offices, apartments, department stores, schools, hospitals, and entertainment facilities. In this case, the robots are controlled to move within the indoor space of the building to provide various services.

[0007] On the other hand, in order for multiple robots providing services in a building to travel efficiently, it is most important to accurately create a map (Map) used to plan the global movement route and regional movement route of the robots, reflecting the characteristics and situations of the actual areas within the building.

[0008] Therefore, in order to provide more advanced services using robots in a building, research is needed on a method that allows users to accurately create a map for robot operation by conveniently and efficiently reflecting the characteristics and situations of the areas within the building.

Summary of the Invention

Problems to be Solved by the Invention

[0009] The map generation method and system for robot operation according to the present invention are for a method of gradually generating a map used for robot operation from sensing information obtained by sensing the space within a building, and for providing a user environment therefor.

[0010] Furthermore, the map generation method and system for robot operation according to the present invention are for a method of accurately and appropriately arranging nodes on a map based on the characteristics of the space within a building, and for providing a user environment therefor.

[0011] Furthermore, the map generation method and system for robot operation according to the present invention are for providing a user environment that allows users to conveniently and efficiently arrange nodes on a map according to node rules.

[0012] Furthermore, the robot-friendly building according to the present invention can manage the travel of robots that provide services more systematically by using a cloud system in cooperation with a plurality of robots to organically control the plurality of robots and facility infrastructure. As a result, the robot-friendly building according to the present invention can provide various services to people more safely, quickly, and accurately.

Means for Solving the Problems

[0013] The map generation method according to the present invention may include the steps of receiving a map editing request for a specific floor among a plurality of floors of a building, providing an editing interface including at least a part of a specific map corresponding to the specific floor on a display unit of an electronic device in response to the editing request, specifying at least one node group assignable on the specific map based on a node rule corresponding to the spatial characteristics of the specific floor, and performing a node placement process so that the nodes included in the node group are placed on the specific map.

[0014] Furthermore, the map generation system according to the present invention includes a communication unit that receives a map editing request for a specific floor among a plurality of floors of a building, and a control unit that provides an editing interface including at least a part of a specific map corresponding to the specific floor on a display unit of an electronic device in response to the editing request. The control unit may specify at least one node group assignable on the specific map based on a node rule corresponding to the spatial characteristics of the specific floor, and perform a node placement process so that the nodes included in the node group are placed on the specific map.

[0015] Furthermore, a program executed by one or more processes in an electronic device and stored in a computer-readable recording medium may include instructions to receive a map editing request for a specific floor among a plurality of floors of a building, provide an editing interface including at least a part of a specific map corresponding to the specific floor on a display unit of the electronic device in response to the editing request, identify at least one node group assignable on the specific map based on a node rule corresponding to spatial characteristics of the specific floor, and perform a node placement process so that nodes included in the node group are placed on the specific map.

[0016] Furthermore, a building in which a plurality of robots according to the present invention provide services includes a plurality of floors having an indoor space where the robots coexist with people, and a communication unit that communicates between the robots and a cloud server. The cloud server controls the robots traveling in the building based on a building map generated through an editing interface. The building map is generated by receiving a map editing request for a specific floor among a plurality of floors of the building, providing an editing interface including at least a part of a specific map corresponding to the specific floor on a display unit of an electronic device in response to the editing request, identifying at least one node group assignable on the specific map based on a node rule corresponding to spatial characteristics of the specific floor, and performing a node placement process so that nodes included in the node group are placed on the specific map. The specific map on which the nodes are placed may be updated in the cloud server so that the robots travel along the nodes placed on the specific floor.

Advantages of the Invention

[0017] The map generation method and system for the operation of a robot according to the present invention can provide an editing interface including at least a part of a specific map corresponding to the specific floor on a display unit of an electronic device in response to receiving a map editing request for a specific floor among a plurality of floors of a building. Thereby, a user can generate and edit a specific map for each floor with respect to a building composed of a plurality of floors. Thereby, the user can generate and correct a customized map for each floor while accurately reflecting the characteristics of each floor even for a building composed of a plurality of floors.

[0018] Furthermore, the map generation method and system for the operation of a robot according to the present invention can identify at least one node group assignable on a specific map based on a node rule corresponding to the spatial characteristics of a specific floor, and perform a node placement process so that the nodes included in the identified node group are placed. Thereby, in the present invention, by accurately and quickly reflecting the spatial characteristics of a specific floor, a map for the safe travel of the robot can be generated.

[0019] Furthermore, the map generation method and system for the operation of a robot according to the present invention can provide a user interface capable of assigning nodes on a specific map based on a node rule corresponding to the spatial characteristics of a specific floor, so that even an unskilled user can generate a map while accurately and quickly reflecting the spatial characteristics of the specific floor.

[0020] Furthermore, the robot-friendly building according to the present invention can provide a new space in which such technologies, robots, and facility infrastructure provided in the building are organically combined by using technological convergence in which robots, autonomous driving, AI, and cloud technologies are integrated and related.

[0021] Furthermore, the robot-friendly building according to the present invention can systematically manage the running of robots that provide services more systematically by using a cloud server in cooperation with a plurality of robots to organically control the plurality of robots and facility infrastructure. As a result, the robot-friendly building according to the present invention can provide various services to people more safely, quickly, and accurately.

[0022] Furthermore, in the building according to the present invention, not only considering the tasks and movement status assigned to a plurality of robots arranged in the building, but also considering people, the running is controlled so that robots and people can coexist naturally in the same space.

Brief Description of the Drawings

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Embodiments for Carrying Out the Invention

[0024] Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings. However, the same or similar components will be given the same reference numerals regardless of the reference signs, and redundant descriptions thereof will be omitted. The suffixes "module" and "section" for the components used in the following description are merely given or mixed for the purpose of easily preparing the specification, and do not have meanings or roles that are distinguishable from each other. In addition, when explaining the embodiments disclosed in this specification, if it is determined that a specific description of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed description thereof will be omitted. The accompanying drawings are for facilitating the understanding of the embodiments disclosed in this specification, and the technical idea disclosed in this specification is not limited by the accompanying drawings, and should be understood to include all modifications, equivalents, and alternatives included in the idea and technical scope of the present invention.

[0025] Terms including ordinal numbers such as first and second may be used to describe various components, but the above components are not limited by the above terms. The above terms are used only for the purpose of distinguishing one component from another.

[0026] When a certain component is referred to as being "connected" or "coupled" to another component, it should be understood that it may be directly connected or coupled to the other component, but other components may also exist therebetween. On the other hand, when a certain component is referred to as being "directly connected" or "directly coupled" to another component, it should be understood that no other component exists therebetween.

[0027] Singular expressions include plural expressions unless clearly indicated otherwise in the context.

[0028] In this application, terms such as "comprising" or "having" are intended to specify the presence of the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and it should be understood that they do not preclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0029] The present invention relates to a robot-friendly building, and proposes a robot-friendly building in which people and robots can coexist safely and in which robots can provide useful services within the building.

[0030] More specifically, the present invention provides a method for providing useful services to people using robots, robot-friendly infrastructure, and various systems for controlling the same. In the building according to the present invention, people and a plurality of robots can coexist, and various infrastructure (or facility infrastructure) can be provided in which the plurality of robots can freely move within the building.

[0031] In the present invention, a building is a structure built for continuous residence, living, business, etc., and can have various forms such as commercial buildings, industrial buildings, institutional buildings, residential buildings, etc. Further, the building may be a multi-story building having a plurality of floors, or may be a single-story building contrary thereto. However, in the present invention, for convenience of explanation, the infrastructure or facility infrastructure applied to a multi-story building will be described as an example.

[0032] In the present invention, infrastructure or facility infrastructure is a facility provided in a building for providing services, moving robots, maintaining functions, maintaining cleanliness, etc., and its type and form can be very diverse. For example, the infrastructure provided in a building can be diverse, such as moving facilities (e.g., robot movement passages, elevators, escalators, etc.), charging facilities, communication facilities, cleaning facilities, structures (e.g., stairs, etc.). In this specification, such facilities are referred to as facilities, infrastructure, facility infrastructure, or facility infrastructure, and in some cases, the terms are used interchangeably.

[0033] Furthermore, in the building according to the present invention, at least one of the building, various facility infrastructures provided in the building, and the robot may be configured to be controlled in conjunction with each other so that the robot can safely and accurately provide various services in the building.

[0034] The present invention proposes a building in which a plurality of robots travel inside the building, provide services according to tasks (or operations), and are equipped with various facility infrastructures that can support standby or charging functions as needed, and further repair and cleaning functions for the robots. Such a building provides an integrated solution (or system) for the robots, and the building according to the present invention can be named with various modifiers. For example, the building according to the present invention can be expressed in various ways such as i) a building equipped with infrastructure used by robots, ii) a building equipped with robot-friendly infrastructure, iii) a robot-friendly building, iv) a building where robots and people live together, v) a building that provides various services using robots, etc.

[0035] On the other hand, in the present invention, the meaning of "robot-friendly" is for a building where robots coexist. More specifically, it may mean that the building allows robots to travel, that robots provide services, that a facility infrastructure available for robots is constructed, or that a facility infrastructure that provides functions necessary for robots (e.g., charging, repair, cleaning, etc.) is constructed. In this case, in the present invention, "robot-friendly" can be used to mean having an integrated solution for the coexistence of robots and people.

[0036] Hereinafter, the present invention will be discussed more specifically together with the accompanying drawings.

[0037] FIG. 1, FIG. 2, and FIG. 3 are conceptual diagrams for explaining a robot-friendly building according to the present invention, and FIG. 4, FIG. 5, and FIG. 6 are conceptual diagrams for explaining a robot that travels in the robot-friendly building according to the present invention and a system for controlling various facilities provided in the robot-friendly building. Further, FIG. 7 and FIG. 8 are conceptual diagrams for explaining the facility infrastructure provided in the robot-friendly building according to the present invention.

[0038] First, for convenience of explanation, representative drawing reference numerals are defined.

[0039] In the present invention, the building is denoted by the drawing reference numeral "1000", and the space (indoor space or indoor area) of the building 1000 is denoted by the drawing reference numeral "10" (see FIG. 8). Further, the indoor spaces corresponding to the plurality of floors of the indoor space of the building 1000 are denoted by the drawing reference numerals 10a, 10b, and 10c, respectively (see FIG. 8). In the present invention, the indoor space or indoor area means the interior of the building protected by the outer wall as a concept opposite to the outside of the building, and is not limited to meaning a space.

[0040] Further, in the present invention, the robot is denoted by the drawing reference numeral "R", and in the drawings or the specification, even if no drawing reference numeral is entered for the robot, it can all be understood as the robot R.

[0041] Further, in the present invention, a person or human is denoted by the drawing reference numeral "U", and a person or human can be named as a dynamic object. At this time, the dynamic object does not necessarily mean only a person, but includes animals such as dogs and cats, or at least one other robot (for example, the user's personal robot, a robot providing other services, etc.), a drone, a movable object such as a vacuum cleaner (for example, a robot vacuum cleaner).

[0042] On the one hand, the building 1000 described in the present invention can mean a structure built for people to live, work, raise animals, or store goods, without particularly limiting the type.

[0043] For example, the building 1000 can be an office, an office building, an office condominium, an apartment, a multi-purpose apartment, a house, a school, a hospital, a restaurant, a government office, etc., and the present invention can be applied to various types of such buildings.

[0044] As shown in FIG. 1, in the building 1000 according to the present invention, a robot can travel to provide various services.

[0045] One or more robots of different types may be located inside the building 1000. Such robots can travel inside the building 1000 under the control of the server 20 to provide services and can use various equipment infrastructures provided in the building 1000.

[0046] In the present invention, the position of the server 20 may be diverse. For example, the server 20 may be located in at least one of the inside and the outside of the building 1000. That is, at least a part of the server 20 may be located inside the building 1000, and the remaining part may be located outside the building 1000. Alternatively, the server 20 may be entirely located inside the building 1000 or only located outside the building 1000. Thus, in the present invention, the specific position of the server 20 is not particularly limited.

[0047] Furthermore, in the present invention, the server 20 may be configured to use at least one of a cloud computing server (cloud server) 21 and an edge computing server (edge server) 22. Further, the server 20 is not limited to the cloud computing or edge computing method, and can be applied to the present invention as long as it can control the robot.

[0048] On the other hand, in some cases, the server 20 according to the present invention can mix a cloud computing server 21 and an edge computing method to control at least one of the robot and the facility infrastructure provided in the building 1000.

[0049] On the other hand, the robot R may be driven according to a control command. For example, the robot R can move its position or change its posture by changing its movement, and can perform software updates.

[0050] In the present invention, for convenience of explanation, the server 20 is uniformly named as a "cloud server" and is given the reference numeral "20". On the other hand, it goes without saying that such a cloud server 20 can also be replaced with the term of an edge server 22 for edge computing.

[0051] Furthermore, the term "cloud server" may be variously changed to terms such as cloud robot system, cloud system, cloud robot control system, cloud control system, etc.

[0052] On the one hand, the cloud server 20 according to the present invention is capable of performing integrated control over a plurality of robots traveling in the building 1000. That is, the cloud server 20 monitors i) a plurality of robots R located within the building 1000, assigns tasks (or operations) to the plurality of robots, directly controls the facility infrastructure provided within the building 1000 so that the plurality of robots R perform tasks normally, or iv) controls the facility infrastructure through communication with a control system that controls the facility infrastructure.

[0053] Furthermore, the cloud server 20 can check the status information of the robots located in the building and provide (or support) various functions necessary for the robots. Here, the various functions may be a charging function for the robots, a cleaning function for contaminated robots, a standby function for robots that have completed tasks, and the like.

[0054] The cloud server 20 can control the robots so that the robots use various facility infrastructures provided in the building 1000 in order to provide various functions to the robots. Furthermore, the cloud server may directly control the facility infrastructure provided within the building 1000 or control the facility infrastructure through communication with a control system that controls the facility infrastructure so that the facility infrastructure is controlled.

[0055] In this way, the robots controlled by the cloud server 20 can travel in the building 1000 and provide various services.

[0056] On the other hand, the cloud server 20 can perform various controls based on the information stored in the database. In the present invention, the type and location of the database are not particularly limited. Such terms for the database can be freely modified and used as long as they mean means for storing information, such as memory, storage unit, storage, cloud storage, external storage, external server, etc. Hereinafter, it will be uniformly described using the term "database".

[0057] On the one hand, the cloud server 20 according to the present invention can perform distributed control on the robot based on various criteria such as the types of services provided by the robot and the types of control over the robot. In this case, there may be subordinate sub-servers of the lower concept in the cloud server 20.

[0058] Furthermore, the cloud server 20 according to the present invention can control the robot traveling in the building 1000 based on various artificial intelligence algorithms.

[0059] Furthermore, the cloud server 20 performs artificial intelligence-based learning that utilizes the data collected during the process of controlling the robot as learning data, and by utilizing this for the control of the robot, the more the robot is controlled, the more accurately and efficiently the robot can be operated. That is, the cloud server 20 may be configured to perform deep learning or machine learning. Also, the cloud server 20 may perform deep learning or machine learning through simulation or the like, and perform control on the robot using the artificial intelligence model constructed as a result.

[0060] On the other hand, the building 1000 may be equipped with various facility infrastructures for the traveling of the robot, the provision of functions of the robot, the maintenance of functions of the robot, the execution of tasks of the robot, or the coexistence of the robot and humans.

[0061] For example, as shown in Fig. 1(a), various facility infrastructures 1 and 2 that can assist the running (or movement) of the robot R may be provided inside the building 1000. Such facility infrastructures 1 and 2 can assist the horizontal movement of the robot R within the floors of the building 1000, or assist the vertical movement of the robot R to move between different floors of the building 1000. Thus, the said facility infrastructures 1 and 2 may be equipped with a transportation system to assist the movement of the robot. The cloud server 20 controls the robot R to use such various facility infrastructures 1 and 2, so that the robot R can move inside the building 1000 to provide services as shown in Fig. 1(b).

[0062] On the other hand, the robot according to the present invention may be controlled based on at least one of the cloud server 20 and the control unit provided in the robot itself, and may be configured to run inside the building 1000 or provide services corresponding to the assigned tasks.

[0063] Furthermore, as shown in Fig. 1(c), the building according to the present invention is a building where robots and people coexist. The robot is configured to avoid obstacles such as people U, objects used by people (such as baby strollers, carts, etc.), and animals, and in some cases, may be configured to output notification information 3 regarding the running of the robot. Such running of the robot may be performed to avoid obstacles based on at least one of the cloud server 20 and the control unit provided in the robot. The cloud server 20 can control the robot to move inside the building 1000 while avoiding obstacles based on the information received through various sensors provided in the robot (such as cameras (image sensors), proximity sensors, infrared sensors, etc.).

[0064] Also, the robot running inside the building through the process from Fig. 1(a) to Fig. 1(c) may be configured to provide services to people or target objects existing inside the building as shown in Fig. 1(d).

[0065] The types of services provided by robots may vary from robot to robot. That is, there can be various types of robots depending on their applications, and robots may have different structures for each application, and a program suitable for the application may be installed in the robot.

[0066] For example, in building 1000, robots that provide at least one of the services of delivery, logistics operations, guidance, interpretation, parking assistance, security, crime prevention, guard duty, public order, cleaning, epidemic prevention, disinfection, laundry, food manufacturing, cooking manufacturing, meal service, fire suppression, medical support, and entertainment services may be arranged. The services provided by robots can be diverse in addition to the examples listed above.

[0067] On the other hand, the cloud server 20 can assign tasks suitable for the robots in consideration of the applications of each robot and control the robots so that the assigned tasks are performed.

[0068] At least some of the robots described in the present invention can travel or perform tasks under the control of the cloud server 20. In this case, the amount of data processed for the robots to travel or perform tasks by themselves can be minimized. In the present invention, such robots can be called "brainless" robots. Such brainless robots can rely on the control of the cloud server 20 for at least part of the control when traveling, performing tasks, performing charging, waiting, cleaning, etc. within the building 1000.

[0069] However, in this specification, without distinguishing and calling the brainless robots separately, all will be uniformly called "robots".

[0070] Figures 9 to 11 are conceptual diagrams for explaining a method of estimating the positions of robots traveling in a robot-friendly building according to the present invention.

[0071] As discussed above, in the building according to the present invention, it is possible to extract and monitor the position of the robot by using various infrastructures provided in the building. Further, by monitoring the position of such a robot, the cloud server 20 can efficiently and accurately control the robot within the building.

[0072] The map generation system 3000 for the operation of the robot R according to the present invention is a method for generating a map that accurately and appropriately reflects the characteristics and situations of the spaces within the building 1000, and provides a user environment therefor, and can be variously named and mixedly used such as "map generation system", "map editing system", "map management system", "map generation editor", "map editing editor", "map management editor", "map editor", "editing editor", etc.

[0073] On the other hand, in order to provide various services using the robot R, it is very important to accurately and appropriately create a map that reflects the characteristics and situations of the actual space 10 within the building 1000 so that the robot R located in the building 1000 can move safely and efficiently within the building 1000 and is utilized for the operation and travel of the robot R.

[0074] Accordingly, the present invention proposes a method for generating a specific map for a specific floor by accurately reflecting the space characteristics and situations within the building 1000, assigning nodes to the specific map 1700, and a method for providing a user environment therefor.

[0075] Hereinafter, together with the accompanying drawings, a method for generating a specific map for a specific floor by accurately reflecting the characteristics and situations of the spaces within the building 1000, assigning nodes, and a user environment therefor will be discussed in more detail.

[0076] FIG. 12 is a conceptual diagram for explaining a map generation system for the operation of a robot according to the present invention. FIG. 13 is a conceptual diagram for explaining a map generated by the present invention, FIG. 14 is a flowchart for explaining a map generation method for the operation of a robot according to the present invention, FIGS. 15a, 15b and 16 are conceptual diagrams for explaining an editing interface provided by the present invention, FIGS. 17a, 17b, 17c and 17d are conceptual diagrams for explaining a node group that follows node rules in the present invention, FIGS. 18, 19a, 19b and 20 are conceptual diagrams for explaining a node arrangement process according to the present invention, FIGS. 21a, 21b, 22, 23a, 23b, 24 and 25 are conceptual diagrams for explaining a method of generating a map using a point cloud technology in the present invention, and FIGS. 26 and 27 are conceptual diagrams for explaining an inspection process according to the present invention.

[0077] As shown in FIG. 12, the map generation system 3000 for the operation of the robot R according to the present invention may include at least one of a communication unit 310, a storage unit 320, and a control unit 330.

[0078] The communication unit 310 may be configured to communicate with at least one of i) an electronic device 50, ii) a cloud server 20, iii) various robots R disposed in the building 1000, iv) various facility infrastructures 200 disposed in the building 1000, and v) a building system 1000a.

[0079] Here, the electronic device 50 may be any electronic device that can communicate with the map generation system 3000 for operating the robot R according to the present invention, and its type is not particularly limited. For example, the electronic device 50 may include a mobile phone, a smart phone, a notebook computer, a laptop computer, a slate PC, a tablet PC, an ultrabook, a desktop computer, a digital broadcast terminal, a PDA (personal digital assistants), a PMP (portable multimedia player), a navigation device, a wearable device (for example, a smartwatch, smart glass, an HMD (head mounted display)), and the like. In the present invention, the electronic device can be used interchangeably with the user terminal and the user terminal device.

[0080] The communication unit 310 can receive the sensing information (or scan information) of the space 10 sensed (or scanned) by the robot R while the robot R is traveling inside the building 1000 from the robot R or the cloud server 20.

[0081] In the present invention, the robot R that scans the space while traveling inside the building 1000 can be variously named as a "sensing robot", a "scanning robot", a "mapping robot", an "autonomous driving robot", a "traveling robot", etc., and the information obtained by the robot R sensing (or scanning) the space can be variously named as "sensing information", "scan information", etc.

[0082] Here, "sensing the space" can be understood as taking an image of the space 10 inside the building 1000 using at least one sensor or obtaining information about an object located on the space 10.

[0083] Furthermore, the communication unit 310 can send information regarding the editing interface 1600 to the electronic device 50 in order to output an editing interface 1600 for map generation and editing on the display unit 51 of the electronic device 50, and can receive editing information regarding node assignment for assigning nodes to specific positions on a specific map 1700 for a specific floor from the electronic device 50.

[0084] Here, the information regarding the editing interface 1600 can be understood to include all information provided to enable a user to perform various operations related to map generation (such as map generation, map creation, map editing, etc.) through the editing interface 1600.

[0085] Furthermore, the communication unit 310 can send and update the specific map to which the nodes are assigned to the cloud server 20 so that the robot R can travel inside the building 1000 based on the specific map 1700 to which the nodes are assigned.

[0086] Next, the storage unit 320 may be configured to store various information related to the present invention.

[0087] The storage unit 320 may include spatial meta-information for a specific floor among a plurality of floors in the building 1000.

[0088] Here, the spatial meta-information is various information reflecting the characteristics of the space of a specific floor, and may include, for example, drawings reflecting the spatial characteristics of a specific floor.

[0089] Furthermore, node rule information including node rules defined for each of different spatial characteristics may exist in the storage unit 320.

[0090] The node rule can be understood as information defining rules for which nodes of which attributes should be arranged (or assigned) to which positions on a specific map 1700 in situations of different spatial characteristics.

[0091] For example, the node rules related to elevator facilities may include rule information such that a transit node for entering and exiting the elevator is assigned to the entrance area of the elevator, a boarding waiting node for waiting to board the elevator is assigned to the left and right areas of the entrance of the elevator, and a disembarking node for disembarking from the elevator is assigned to the front area of the entrance of the elevator.

[0092] On the other hand, in the present invention, the storage unit 320 may be provided in the map generation system 3000 itself for the operation of the robot R. Differently, at least a part of the storage unit 320 may mean at least one of the cloud server 20, the external database, and the storage unit 140 of the building system 1000a. That is, it can be understood that the storage unit 320 is sufficient as long as it is a space in which information necessary for generating the map according to the present invention is stored, and there are no restrictions on the physical space. Thus, hereinafter, without separately distinguishing the storage unit 320, the cloud server 20, the external database, and the storage unit 140 of the building system 1000a, all are expressed as the storage unit 320.

[0093] Next, the control unit 330 may be configured to control the overall operation of the map generation system 3000 for the operation of the robot R according to the present invention. The control unit 330 can process signals, data, information, etc. input or output through the components considered above, or provide or process information or functions suitable for the user.

[0094] The control unit 330 can accurately generate a specific map 1700 by using the sensing information acquired by the robot R while traveling in the building 1000 and the space meta information stored in the storage unit 320.

[0095] Furthermore, as shown in FIG. 13, the control unit 330 can accurately and efficiently arrange at least one of nodes 1310, 1320, and 1330 on a specific map 1700 according to a node rule that matches the spatial characteristics of a specific floor.

[0096] Furthermore, the control unit 330 can update, according to a node rule, a specific map on which nodes are arranged to the cloud server 20 so that the robot R travels in the space (or a specific floor) within the building 1000 based on a specific map that accurately and appropriately reflects the characteristics and situation of the space 10 within the building 1000.

[0097] As described above, the cloud server 20 can control a plurality of robots R that provide services within the building. In particular, the cloud server 20 can generate a global movement route and a regional movement route of the robot R based on a specific map corresponding to a specific space or a specific floor, and control the robot R to move along the generated movement route.

[0098] Thus, in the present invention, a map utilized for controlling the robot R that provides services within the building is generated by accurately and appropriately reflecting the characteristics and situation of the space 10, and an editing interface 1600 that allows a user to easily and intuitively create or edit the map can be provided.

[0099] Hereinafter, based on each component of the map generation system 3000 for operating the robot R described above, a method for a user to accurately and appropriately generate a map used for operating and traveling the robot R will be described more specifically.

[0100] In the present invention, at least one node can be arranged on a specific map 1700 for a specific floor by reflecting the spatial characteristics of the specific floor so that the robot R can safely and accurately travel in the space 10 of the specific floor.

[0101] In the present invention, "placing a node on a specific map 1700" can be understood as "placing a node graphic object corresponding to the node on a specific map 1700".

[0102] On the other hand, the nodes described in the present invention can have three different types according to their attributes (or types). i) A node having a first node type is a travel node coordinated with the travel of the robot R. ii) A node having a second node type is an operation node corresponding to an operation node coordinated with a specific operation of the robot. iii) A node having a third node type may mean an equipment node corresponding to an equipment node coordinated with equipment arranged on a specific floor.

[0103] In the present invention, a robot providing a service may be configured to perform an operation defined for a node assigned to the location where the robot is located.

[0104] The operation node can be understood as a node preset so that the robot R that has moved to a specific node by traveling between nodes performs an operation corresponding to the specific node. That is, since the operation node also includes the role of the travel node, the travel node in the present invention can be understood as being included in the operation node.

[0105] The equipment node is assigned to at least one of a specific point where specific equipment is located in an actual area (or target space) of a specific floor and a specific area that the robot must necessarily pass through in order to pass through the specific equipment (for example, a speed gate, an elevator, etc.). That is, when the robot uses specific equipment, the robot must move to at least a part of a plurality of equipment nodes corresponding to the specific equipment.

[0106] The nodes described below can be understood as including at least one of a travel node, an operation node, and an equipment node.

[0107] On the one hand, for each node, node information can correspond. The node information may include at least two pieces of information.

[0108] First, the node information includes coordinate information. A single node designates a specific coordinate or coordinate range on the map. For example, a node may be configured to designate a circular area having a predetermined area on the map. For this purpose, the coordinate information included in the node may be composed of a specific coordinate or a coordinate range.

[0109] Second, the node information includes facility information. The facility information defines information about facilities arranged in the target space. Specifically, the facility information may include at least one of the type of the facility, information about the server corresponding to the facility, and the node information of the node corresponding to the position where the facility is arranged.

[0110] On the other hand, in the present invention, a line connecting a node and a node different from the specific node can be named an edge or an edge graphic object.

[0111] For the edge (or edge graphic object), edge information (or edge graphic object information) can correspond (or match) for each edge.

[0112] The edge information may include at least one of i) connection information connecting different nodes to each other and ii) direction information defining the moving direction of the robot R between the different nodes.

[0113] The connection information may include information about two different nodes connected to each other by the edge.

[0114] For example, the connection information may include the identification information of each of the first node and the second node connected by the edge. Based on the connection information, the edge (or edge graphic object) may be output (or displayed) as a line (or a graphic object corresponding to the line) connecting the first node and the second node on a specific map. Thus, in the present invention, the edge can also be understood as meaning the connection information.

[0115] Furthermore, when the robot can move from either one of the two nodes to the other, the direction information may include information defining whether the robot can move only in one direction or in both directions.

[0116] For example, assume that the robot R can move from the first node to the second node, but the movement from the second node to the first node is restricted. The edge information corresponding to the edge connecting the first node and the second node may include direction information defining the one-way movement from the first node to the second node.

[0117] As another example, assume that the robot R can move both from the first node to the second node and from the second node to the first node. The edge information corresponding to the edge connecting the first node and the second node may include direction information defining the two-way movement between the first node and the second node.

[0118] In the present invention, the direction information can be understood as meta information included in the edge (or edge graphic object).

[0119] Thus, a specific map in the present invention may include at least one node mapped to a specific position and edges connecting different nodes to each other.

[0120] Node information corresponding to each of the nodes may be matched, and the node information may include coordinate information and facility information of the nodes.

[0121] Edge information corresponding to each of the edges may be matched, and the edge information may include connection information and direction information.

[0122] On the other hand, the connection information and direction information in the present invention can also be described as being included in the node information. More specifically, when the connection information and direction information are included in the edge information (or edge graphic object information) corresponding to the edge (or edge graphic object) connecting the first node and the second node, in the present invention, it can also be described that the connection information and direction information are included in the node information corresponding to each of the first node and the second node. That is, in the present invention, the direction information described as being set for a specific node can be understood as the direction information included in the edge (or edge graphic object) regarding the specific node and another specific node.

[0123] On the other hand, the target space of a specific floor may be divided into a plurality of areas. A specific map 1700 includes a plurality of areas. At least one node is assigned to each area. Each area is divided based on at least one node included in the area.

[0124] On the other hand, in this specification, an area can have two types according to the type of the node assigned to the area. Specifically, an area may be composed of a first type of area including a node assigned to an area corresponding to a location where a facility is located, and a second type of area including a node assigned to an area not corresponding to a location where a facility is located.

[0125] For each of the first and second area types, only areas of the same type may be assigned. For example, only nodes of the first node type may be assigned to the areas of the first area type, and only nodes of the second node type may be assigned to the areas of the second area type.

[0126] Corresponding area information may be associated with each area. The area information may include at least one of the serial numbers and location information of each node included in the corresponding area, connection information between the nodes included in the corresponding area, area connection information between adjacent areas, and facility information.

[0127] The area connection information may be generated for each area adjacent to the corresponding area. The area connection information for the first area and the second area adjacent to each other may include the node information of the first node arranged closest to the second area among the nodes included in the first area, and the node information of the second node arranged closest to the first area among the nodes included in the second area. That is, the area connection information defines the nodes that must be traversed for movement between areas.

[0128] Hereinafter, the process of assigning nodes on the map will be described more specifically together with the accompanying drawings.

[0129] First, in the present invention, a process of receiving a map editing request for a specific floor among a plurality of floors of the building 1000 can be performed (S1410, see FIG. 14).

[0130] As described above, the building 1000 in the present invention may be composed of a plurality of floors. The communication unit 310 can receive a map editing request for a specific floor among the plurality of floors constituting the building 1000 from the electronic device 50.

[0131] In the present invention, "map editing" can be understood as an operation of generating or changing a map (Map or map information) for the space 10 within the building 1000. In particular, in the present invention, "map editing for a specific floor among a plurality of floors" can be understood as an operation of generating or modifying a map (or map information) for a specific floor of the building 1000.

[0132] The map editing request for the specific floor can be received from the electronic device 50 in various ways.

[0133] For example, as shown in FIG. 15a, the map editing request for the specific floor may be made in a state where the monitoring screen 1400 is provided on the display unit of the electronic device 50.

[0134] The monitoring screen 1400 is a screen capable of monitoring a plurality of robots R located within the building 1000 including a plurality of floors, and may include at least one of i) a building graphic object 1410 corresponding to the building 1000, ii) a state graphic object 1420 including state information of the robots R located on each floor, ii) a specific area 1430 linked to a page (or screen) related to map management corresponding to any one of the plurality of floors, and vi) a graphic object 1440 corresponding to information about the robots R located on all floors of the building 1000.

[0135] As shown in FIG. 15a, based on the selection of the sub-graphic objects 1411 and 1412 corresponding to the specific floor in a state where the building graphic object 1410 corresponding to the building is output on the display unit 51 of the electronic device 50, the communication unit 310 can receive a map editing request for the specific floor.

[0136] For example, based on the user selecting the sub-graphic object 1411 corresponding to the 8th floor on the display unit 51 of the electronic device 50, the communication unit 310 can receive a map editing request for the 8th floor.

[0137] Furthermore, as shown in FIG. 15a, in a state where the state graphic objects 1420 corresponding to each of a plurality of floors are output on the display unit 51 of the electronic device 50, based on the state graphic object 1420 corresponding to a specific floor being selected, the communication unit 310 can receive a map editing request for the specific floor.

[0138] For example, based on the user selecting the state graphic object 1421 corresponding to the 8th floor on the display unit 51 of the electronic device 50, the communication unit 310 can receive a map editing request for the 8th floor.

[0139] Here, the "state graphic object 1420" can be understood as a graphic object composed of a visual appearance corresponding to the state information so that the state information of the robots R located on each of the plurality of floors in the building 1000 appears.

[0140] For example, the state graphic object 1421 corresponding to the 8th floor may be composed of a visual appearance corresponding to the first state information and a visual appearance corresponding to the second state information of some of the robots R located on the 8th floor.

[0141] The user can intuitively recognize the state of the robots R for each of the plurality of floors in the building 1000 through the state graphic object 1420.

[0142] Furthermore, as shown in FIG. 15a, based on a specific area (e.g., "Map Management", 1430) being selected on the display unit 51 of the electronic device 50, the communication unit 310 can receive a map editing request for a specific floor.

[0143] When a user input for a specific area 1430 corresponding to "map management" is received, the control unit 330 can provide a screen on which a selection for a specific floor among a plurality of floors in the building is input on the display unit 51 of the electronic device 50.

[0144] For example, as shown in FIG. 15b, the control unit 330 can provide a map list (or map list, 1500) on the display unit of the electronic device 50.

[0145] The map list 1500 may include items 1510, 1520, 1530 corresponding to at least one of a plurality of floors. In one area of the items 1510, 1520, 1530, there may be included function icons (for example, "map generation function icon" or "map editing function icon" 1520a, 1530a) related to the function of inputting a map editing request for the floor corresponding to the item. The communication unit 310 can receive a map editing request for a specific floor corresponding to a specific item from the electronic device 50 based on a user input being applied to a function icon included in one area of the specific item on the map list 1500.

[0146] As another example, the control unit 330 can provide a pop-up including a plurality of graphic objects including numbers corresponding to each of a plurality of floors on the display unit of the electronic device 50. The communication unit 310 can receive a map editing request for a specific floor from the electronic device 50 based on a specific graphic object corresponding to a specific floor being selected among the plurality of graphic objects.

[0147] On the other hand, the method of receiving a map editing request for a specific floor described above corresponds to one embodiment, and the method of receiving a map editing request for a specific floor in the map generation system 3000 according to the present invention is not limited to the method described above.

[0148] Next, in the present invention, in response to a map editing request corresponding to a specific floor received from the electronic device 50, a process of providing an editing interface including at least a part of a specific map corresponding to the specific floor on the display unit 51 of the electronic device 50 can be performed (see S1420 and FIG. 14).

[0149] As shown in FIG. 16, the editing interface 1600 may include at least one of a first region 1610 including at least a part of a specific map 1700 corresponding to a specific floor and a second region 1620 including a function of setting the specific map 1700.

[0150] In the present invention, the editing interface 1600 is a screen output on the display unit 51 of the electronic device 50 to provide a function for a user to edit a specific map 1700, and can be named an "editing screen", an "editing user graphic interface (GUI)", an "editing page", etc.

[0151] On the other hand, at least a part of a specific map (hereinafter referred to as a specific map) 1700 corresponding to a specific floor may be provided in the first region 1610, and in the present invention, the first region 1610 can also be named a "map region".

[0152] The specific map 1700 can be stored in the storage unit 320 together with the editing history of the specific map. When the control unit 330 receives an editing request for a map corresponding to a specific floor, it can provide the editing interface 1600 including the specific map 1700 last updated with reference to the editing history on the display unit of the electronic device 50.

[0153] For example, when editing for a specific map 1700 is performed three times, the control unit 330 can provide, based on a request for editing the map corresponding to a specific floor, an editing interface 1600 including the specific map 1700 updated based on the third editing on the display unit of the electronic device 50.

[0154] Next, in the present invention, a process of specifying at least one node group assignable on a specific map can be performed based on a node rule corresponding to the spatial characteristics of a specific floor (see S1420, FIG. 14).

[0155] In the storage unit 320, a specific map 1700 for a specific floor and information regarding the characteristics of the space 10 constituting the specific floor ( "spatial characteristic information") may exist as matching information, being matched with each other.

[0156] The "characteristics of the space" described in the present invention can be understood as elements related to various static obstacles that can affect the operation and travel of the robot R by at least one of the structure of the space 10, the equipment arranged in the space 10, and the situation of the space 10.

[0157] Furthermore, the spatial characteristic information is information defined by the characteristics of the space. For example, the spatial characteristic information may include i) structure information (or spatial structure information) regarding the structure of the space 10, ii) equipment information regarding the equipment arranged in the space 10, iii) situation information (or spatial situation information) regarding the situation of the space 10, and the like.

[0158] Here, the structure information of the space 10 can be understood as information regarding the spatial structure of the space 10 formed by at least one of the walls, ceiling (roof), floor, stairs, pillars, doors, and objects arranged in the space 10 (e.g., desks, shelves, etc.).

[0159] Here, the facility information regarding the facilities arranged in the space 10 may include at least one of the characteristic information of the facilities (e.g., type information, category information, function information, etc.), the position information where the facilities are arranged (e.g., coordinate information, area information, region information, etc.), and the identification information of the facilities.

[0160] Here, the situation information regarding the situation of the space 10 may include at least one of the information regarding the availability (or travelability) of the space 10 (e.g., whether movement is temporarily restricted, etc.), the density information regarding the density of robots or people existing in the space 10, and the information regarding the events occurring in the space 10.

[0161] On the other hand, in the present invention, the characteristics of the space 10 on a specific floor can also be understood as the characteristics due to static obstacles related to the space 10 on the specific floor.

[0162] In the present invention, the static obstacles included in a specific floor may include at least one of the walls, doors, ceilings (roofs), bottoms, staircases, pillars, rooms (Rooms) composed of the above walls, etc., and facilities that make up the specific floor.

[0163] Furthermore, the said facilities (or facility infrastructure) are facilities provided in the building 1000 for providing services, moving robots, maintaining functions, maintaining cleanliness, etc., and their types and forms are very diverse. For example, i) an elevator configured to be available for at least one of the robots and people traveling on a specific floor (refer to the reference numeral 204 in FIG. 2), ii) an escalator (refer to the reference numeral 205 in FIG. 2), iii) an entrance door or an access control gate (refer to the reference numerals 206, 207 in FIG. 2), iv) a robot movement passage (a dedicated road for robots and a shared road for robots, (refer to the reference numerals 201, 202 in FIG. 2), v) a charging facility (e.g., a charger, refer to the reference numeral 209 in FIG. 2), vi) a cleaning facility (refer to the reference numeral 210 in FIG. 2), vii) a standby space facility corresponding to the standby space where the robot waits (refer to the reference numeral 208 in FIG. 2) may be included.

[0164] Accordingly, the characteristics of the space described in the present invention can be understood as the characteristics of static obstacles related to the space (e.g., the type of static obstacle, the type of static obstacle, etc.).

[0165] On the other hand, in the storage unit 320, a specific map 1700 for a specific floor and at least one piece of space characteristic information for the specific floor may exist in a mutually matching manner.

[0166] Furthermore, in the storage unit 320, there may exist node rule information related to a "node rule" that defines rules for which nodes of which attributes should be assigned (or arranged) at which positions on a specific map 1700 in different situations of space characteristics in the space 10.

[0167] For example, the storage unit 320 may store node rule information in which the type of static obstacle and the node rules respectively defined for each type of static obstacle are mutually mapped.

[0168] The control unit 330 can extract a node rule that is matched (or mapped) to the space characteristics (e.g., the type of static obstacle) of a specific floor from the node rule information stored in the storage unit 320, and identify a node group in which at least one node is arranged according to the extracted node rule.

[0169] Here, the "node group" may be configured such that at least one of the number of nodes, the arrangement form of the nodes, and the connection direction between the nodes that defines the moving direction of the robot is different according to the space characteristics.

[0170] The control unit 330 can determine at least one of the number of nodes related to the space characteristics, the arrangement form of the nodes, and the connection form between the nodes that defines the moving direction of the robot according to the node rule matched to the space characteristics (e.g., the type of static obstacle).

[0171] Furthermore, in the storage unit 320, based on node rules matched to the spatial characteristics, a plurality of nodes according to different situations of spatial characteristics may exist configured as one node group.

[0172] Thus, in the present invention, "identifying a node group" may include all of identifying at least one of the number of nodes included in the node group, the arrangement form of the nodes, and the node connection direction according to the node rules, and checking the node group configured according to the node rules and pre-stored in the storage unit 320.

[0173] Such node groups may be configured to be different for different characteristics (e.g., types of static obstacles) included in the spatial characteristic information. Hereinafter, with reference to FIGS. 17a, 17b, 17c, and 17d, i) the characteristics of the space where the elevator facility is arranged (i.e., the type of static obstacle corresponds to the elevator facility), ii) the characteristics of the space where the charging facility is arranged (i.e., the type of static obstacle corresponds to the charging facility), iii) the characteristics of the space of the robot movement path (i.e., the type of static obstacle corresponds to the robot movement path), vi) the characteristics of the space 10 of the robot movement path with an intersection shape (i.e., the type of static obstacle corresponds to the robot movement path) will be described for the node groups configured based on the respective node rules.

[0174] First, with reference to FIG. 17a, the node group 1710 configured based on the characteristics of the space where the elevator facility is arranged will be described. The elevator facility may include at least one of a shared elevator jointly used by a person and the robot R and a robot R-exclusive elevator exclusively used by the robot R (see reference numerals 204 and 205 in FIG. 2).

[0175] When the control unit 330 includes information about the elevator (or robot - dedicated elevator) facility arranged at a specific position in the space 10 in the spatial characteristic information, as shown in FIG. 17a, the node group 1710 related to the elevator facility configured based on the node rules related to the elevator facility can be specified as a node object related to a specific map 1700.

[0176] More specifically, the node group 1710 related to the elevator facility may include a facility node 1711 corresponding to the elevator facility and a plurality of operation nodes 1712, 1713, 1714, 1715 coordinated with specific operations of the robot R for using the elevator.

[0177] The facility node 1711 corresponding to the elevator facility may be assigned (or arranged) to an area corresponding to the position where the elevator facility is arranged on a specific map 1700.

[0178] The node rules related to the elevator facility may include rule information for assigning the facility node 1711 corresponding to the elevator facility to an area corresponding to the position information on a specific map 1700 based on the position information of the elevator facility included in the spatial characteristic information.

[0179] Furthermore, the first operation node 1712 among the plurality of operation nodes related to the elevator facility has the attribute of a via - node for entering and exiting the elevator and may be assigned (or arranged) to an area corresponding to the elevator entrance on a specific map 1700.

[0180] The node rules related to the elevator facility may include rule information for assigning the first operation node 1712 having the attribute of a via - node for entering and exiting the elevator to an area corresponding to the elevator entrance on a specific map 1700 based on the position information of the elevator facility included in the spatial characteristic information.

[0181] Furthermore, among a plurality of operation nodes related to the elevator facility, the second operation nodes 1713 and 1714 have the attributes of boarding waiting nodes for waiting to board the elevator, and on a specific map 1700, a pair may be respectively assigned (or arranged) to the left and right areas of the elevator entrance.

[0182] That is, the node rules related to the elevator facility may include rule information for assigning an integrated second operation nodes 1713 and 1714 having the boarding waiting attributes for waiting to board the elevator to two different regions corresponding to the left and right of the elevator entrance on a specific map 1700 based on the position information of the elevator facility included in the spatial characteristic information.

[0183] Furthermore, among a plurality of operation nodes related to the elevator facility, the third operation node 1715 has the alighting node attributes for alighting from the elevator, and on a specific map 1700, it may be assigned (or arranged) to the region corresponding to the front of the elevator entrance.

[0184] That is, the node rules related to the elevator facility may include rule information for assigning the third operation node 1715 having the alighting node attributes for alighting from the elevator to the region corresponding to the front of the elevator entrance on a specific map 1700 based on the position information of the elevator facility included in the spatial characteristic information.

[0185] Next, together with FIG. 17b, the node group 1710 configured based on the characteristics of the space where the charging facility is arranged will be described. The charging facility is a facility for charging the robot R (refer to reference numeral 209 in FIG. 2), and can be named a charger or a docking station.

[0186] When the control unit 330 includes information about the charging facility arranged at a specific position in the space 10 in the spatial characteristic information, as shown in FIG. 17b, it can identify a node group 1720 related to the charging facility configured based on the node rules related to the charging facility as a node object related to a specific map 1700.

[0187] More specifically, the node group 1720 related to the charging facility may include a facility node 1721 corresponding to the charging facility and a plurality of operation nodes 1722 and 1723 coordinated with a specific operation of the robot R for using the charging facility.

[0188] The facility node 1721 corresponding to the charging facility may be assigned (or arranged) to an area corresponding to the position where the charging facility is arranged on the specific map 1700.

[0189] The node rules related to the charging facility may include rule information for assigning the facility node 1721 corresponding to the charging facility to an area corresponding to the position information on the specific map 1700 based on the position information of the charging facility included in the spatial characteristic information.

[0190] Furthermore, among the plurality of operation nodes related to the charging facility, the first operation node 1722 has a docking node attribute for the robot R to dock with the charging facility and may be assigned (or arranged) to an area corresponding to the front of the charging facility on the specific map 1700.

[0191] Furthermore, among the plurality of operation nodes related to the charging facility, the second operation node 1723 has an attribute of a via node for entering and exiting the charging facility for approaching the charging facility and may be assigned (or arranged) to an area corresponding to the main path closest to the charging facility on the specific map 1700.

[0192] That is, the node rules related to the charging facility may include rule information for allocating a first operation node 1722 with a docking node attribute to the area corresponding to the front of the charging facility and a second operation node 1723 with a via node attribute to the area corresponding to the main path closest to the charging facility on a specific map 1700 based on the position information of the charging facility included in the spatial characteristic information.

[0193] Next, with reference to FIG. 17c, the robot movement path node groups 1730 and 1730a' configured based on the characteristics of the robot movement paths W1 and W2 on which the robot R can travel will be described.

[0194] The node rules related to the robot movement path may include rule information for determining the number of lanes for the travel of the robot R on the robot movement path in consideration of at least one of the width (breadth) of the robot movement path included in the spatial characteristic information, the physical size of the robot R, and the travel speed (or travel specifications) of the robot R, and allocating a plurality of travel nodes at preset intervals along the robot movement path for each lane.

[0195] For example, as shown in FIG. 17c(a), the node group 1730 related to the robot movement path with a relatively wide width (or breadth, L1) may include a plurality of travel nodes 1731a, 1732a, 1733a, 1731b, 1732b, and 1733b allocated at preset intervals for two different lanes.

[0196] As another example, as shown in FIG. 17c(b), the node group 1730a' related to the robot movement path with a relatively narrow width (or breadth, L2) may include a plurality of travel nodes 1731a', 1732a', and 1733a' allocated at preset intervals on a single lane.

[0197] The control unit 330 can identify the robot movement path node groups 1730 and 1730a', which are configured based on node rules related to the robot movement path, as node objects related to a specific map 1700.

[0198] That is, the control unit 330 can identify a plurality of nodes forming at least one lane as node objects related to a specific map 1700 in consideration of at least one of the width (breadth) of the robot movement path, the physical size of the robot R, and the traveling speed (or traveling specifications) of the robot R.

[0199] Next, together with FIG. 17d, node rules matched to the spatial characteristics of the robot movement path configured with an intersection structure will be described.

[0200] As shown in FIG. 17d, the intersection structure may mean a structure in which at least two robot movement paths intersect each other.

[0201] TIFF2025521313000002.tif40161

[0202] Here, in the present invention, the structure of the space 10 formed by the intersection of at least two robot movement paths can be named "corner 1740".

[0203] The node rules related to the intersection structure may include rule information for determining the number of lanes for the traveling of the robot R on the robot movement path in consideration of at least one of the width (or breadth) of the robot movement paths forming the intersection structure, the structure of the corner, the position of the corner, the physical size of the robot R, and the traveling specifications of the robot R, and arranging a plurality of traveling nodes at preset intervals along the robot movement path for each lane.

[0204] Furthermore, the node rules related to the intersection structure may further include rule information for specifying the direction information of nodes 1741 to 1750 arranged in the robot movement path so that the robot R travels on the right side and moves through a plurality of robot movement paths forming the intersection structure.

[0205] For example, as shown in FIG. 17d, the control unit 330 can specify a node group such that one of the integrated nodes 1742 arranged in each robot movement path has direction information corresponding to the downward line, and the other 1743 has direction information corresponding to the upward line.

[0206] Furthermore, eight nodes 1741 to 1750 are arranged in pairs in each of the four robot movement paths. Assuming that, in clockwise order with reference to the node located under the specific corner 1740, they are the first node 1741, the second node 1742, the third node 1743, the fourth node 1744, the fifth node 1745, the sixth node 1746, the seventh node 1747, and the eighth node 1748.

[0207] The control unit 330 can specify a node group such that each of the second node 1742, the fourth node 1744, the sixth node 1746, and the eighth node 1748 has direction information that allows movement to a node other than the node arranged in the same robot movement path among the first node 1741, the third node 1743, the fifth node 1745, and the seventh node 1747, in accordance with the node rules related to the intersection structure so that the robot R travels on the right side. For example, the node group may be specified such that the fourth node 1744 has direction information that allows movement to the first node 1741, the third node 1743, and the seventh node 1747, excluding the fifth node 1745 arranged in the same robot movement path.

[0208] Furthermore, the control unit 330 can identify the node directions of the nodes within the node group that enable the robot R to maintain right-hand driving and make a U-turn in accordance with the node rules related to the intersection structure. For example, the control unit 330 can identify the node group such that the 9th node 1749 has direction information enabling it to move to the 10th node 1750, and arrange the nodes so that the robot R can make a U-turn at the 1st node 1741, the 9th node 1749, the 10th node 1750, and the 8th node 1748.

[0209] Next, in the present invention, a process of performing a node placement process can be carried out so that the nodes included in the node group are arranged on a specific map (see S1440 and FIG. 14).

[0210] In the present invention, "placing (or allocating) nodes on a specific map" can be understood as overlaying nodes or node graphic objects corresponding to the nodes on a specific area of the specific map 1700, and matching (or setting) so that the area (or location) where the node graphic objects are arranged has a type corresponding to the type of the node graphic objects.

[0211] For example, assuming that a node group 1710 related to an elevator and a node group 1720 related to a charger are specified in relation to a specific map 1700. As shown in FIG. 18, the control unit 330 can arrange, through the node placement process, node graphic objects 1711, 1712, 1713, 1714, 1715 corresponding to each of the plurality of nodes included in the node group 1710 related to the elevator and node graphic objects 1721, 1722, 1723 corresponding to each of the plurality of nodes included in the node group 1720 related to the charger on the specific map 1700.

[0212] As described above, in the present invention, "node" and "node graphic object" can be used interchangeably, and "node placement (or assignment)" and "node graphic object placement (or assignment)" can be used interchangeably. Thus, in the present invention, the same drawing reference numeral can be assigned to a node and a node graphic object. For example, the same drawing reference numeral "1711" can be assigned to a node corresponding to elevator equipment and a node graphic object corresponding to elevator equipment.

[0213] On the other hand, the "node placement process" described in the present invention is a process of placing (or assigning) at least a part of the nodes included in a specified node group on a specific map 1700, and depending on whether a node is assigned on a specific map 1700 based on information received from the electronic device 50 of a system administrator (hereinafter referred to as "user"), it may include any one of i) a node placement process of the first attribute, ii) a node placement process of the second attribute, and iii) a node placement process of the third attribute.

[0214] First, the node placement process of the first attribute can be understood as a process of automatically placing the nodes included in the specified node group on a specific map 1700 based on the fact that a node group related to a specific map 1700 is specified, even when information is not received from the user's electronic device 50. The "node placement process of the first attribute" can also be named as an "automated node placement process".

[0215] The control unit 330 can place (or assign) the nodes included in the specified node group on a specific map 1700 according to the node rules related to each node group.

[0216] Furthermore, when a plurality of node groups are specified in relation to a specific map 1700, the control unit 330 can arrange all of the plurality of nodes included in each of the plurality of node groups on the specific map 1700 in order or collectively based on the node rules of each of the plurality of node groups.

[0217] More specifically, when the control unit 330 includes a first graphic object corresponding to a first type of static obstacle and a second graphic object corresponding to a second type of static obstacle on a specific map 1700, the control unit 330 arranges the nodes of a first node group that follows the node rule corresponding to the first type of static obstacle in a first area of the specific map 1700 that includes the first graphic object, and arranges the nodes of a second node group that follows the node rule corresponding to the second type of static obstacle in a second area of the specific map 1700 that includes the second graphic object.

[0218] For example, assume that the control unit 330 has specified a node group 1710 related to elevator facilities and a node group 1720 related to chargers in relation to a specific map 1700. A first graphic object corresponding to elevator facilities and a second graphic object corresponding to charging facilities may be included on the specific map 1700.

[0219] As shown in FIG. 18, the control unit 330 can arrange nodes 1711 to 1715 of a node group that follows the node rule corresponding to elevator facilities in the area including the graphic object related to elevator facilities, and can arrange all of the nodes 1721 to 1723 of a node group that follows the node rule corresponding to charging facilities in the area including the graphic object related to charging facilities.

[0220] Furthermore, the control unit 330 can perform a node inspection process for inspecting a plurality of nodes arranged on a specific map 1700.

[0221] The node verification process is a process of checking whether a plurality of nodes arranged on a specific map 1700 are accurately arranged according to node rules or the situation of the actual space 10. The control unit 330 can perform the node verification process based on at least one of the node verification algorithm and the information received from the user's electronic device 50. More detailed content regarding the node verification process will be described later.

[0222] Next, the node placement process for the second attribute can be understood as a process of placing the nodes included in a specific node group specified on a specific map 1700 based on the information received from the user's electronic device 50. The "node placement process for the second attribute" can also be named the "semi-automated node placement process".

[0223] Here, the information received from the user electronic device 50 can be understood as a "node placement request" that requests the placement of the nodes included in the specific node group specified in relation to the specific map 1700 on the specific map 1700.

[0224] When a plurality of node groups are specified in relation to a specific map 1700, the control unit 330 may collectively place the nodes included in each of the plurality of node groups on the specific map 1700 based on the node placement request received from the user's electronic device 50, or may place the nodes included in a specific node group among the plurality of node groups on the specific map 1700.

[0225] For example, when the control unit 330 receives a "collective node placement request" for the nodes included in a plurality of node groups from the user's electronic device 50, it may collectively place the nodes included in the plurality of node groups on the specific map 1700.

[0226] As another example, when the control unit 330 receives a "node placement request" for the nodes included in a specific node group from the user's electronic device 50 among a plurality of node groups, the control unit 330 may collectively place the nodes included in the specific node group on a specific map 1700.

[0227] For example, assume that a node placement request for the node group 1710 related to the elevator facility is received from the user's electronic device 50 in a state where the node group related to the elevator facility and the node group related to the charger facility are specified in relation to a specific map 1700. Based on the node placement request, the control unit 330 can place the nodes 1711, 1712, 1713, 1714, 1715 included in the node group related to the elevator facility on a specific map 1700 as shown in FIG. 20.

[0228] On the other hand, based on the fact that the node group related to the specific map 1700 is specified, the control unit 330 can provide guide information for notifying that at least one node corresponding to the specified node group can be placed on the editing interface 1600. Such guide information can also be understood as recommendation information for recommending at least one node placement corresponding to the specified node group.

[0229] The guide information may include: i) highlighting display information for highlighting a specific map 1700 related to the specified node group; ii) guiding information for guiding a plurality of node placements included in the specified node group; iii) arrangement information indicating the arrangement of at least one node constituting the specified node group; and iv) an icon for receiving approval of the arrangement of the nodes constituting the specified node group.

[0230] For example, as shown in FIG. 19a, the control unit 330 can output, as guidance information, highlighting information (or highlight information) 1911 for a region related to a specified node group and guidance information (e.g., "This is a robot E / V dense space. Please check the node creation guide information for the robot E / V dense space 10") 1912 for guiding a plurality of node arrangements included in the specified node group on the first region 1610 of the editing interface 1600.

[0231] Furthermore, the control unit 330 can output, as guidance information, at least one of detailed information 1913 including arrangement information related to the specified node group and an icon (e.g., "Apply guidance information") 1914 for receiving approval of node arrangement according to the specified node group on the second region 1620 of the editing interface 1600.

[0232] The icon 1914 can also be understood as an icon related to the function of receiving a node arrangement request for a specified node group.

[0233] On the other hand, the control unit 330 can output guidance information based on the selection of a region where a specific graphic object is located from among specific maps 1700 by the user's electronic device 50.

[0234] For example, as shown in FIG. 19b, with a specific map 1700 output on the first region 1610 of the editing interface 1600, the control unit 330 can output, as guidance information, at least one of detailed information 1923 related to the specified node group and an icon 1924 for receiving approval of node arrangement according to the specified node group on the second region 1620 based on the application of a user input 1921 to a specific graphic object 1922 related to the specified node group on the first region 1610.

[0235] That is, the control unit 330 can recommend to the user a node group related to a specific area selected by the user among the specific maps 1700.

[0236] Furthermore, based on the user input being applied to an icon (e.g., "Apply Guide Information") 1914 for receiving approval of node placement, as shown in FIG. 20, the control unit 330 can place a plurality of nodes 1711, 1712, 1713, 1714, 1715 included in the node group on a specific map 1700.

[0237] That is, when an icon 1914 for receiving approval of node placement is selected through the user's electronic device 50, the control unit 330 can place at least one node constituting a node group specified in the area where the graphic object is located.

[0238] In this case, the control unit 330 can place a plurality of nodes included in a specific node group related to the guide information provided on the editing interface 1600 among a plurality of node groups related to a specific map 1700 on the specific map 1700.

[0239] More specifically, when a first node group and a second node group are specified in relation to a specific map 1700 and there is a user selection for an icon 1914 for receiving approval of node placement in a state where guide information recommending the first node group is output on the editing interface 1600, the control unit 330 can place a plurality of nodes included in the first node group on the specific map 1700.

[0240] Furthermore, similar to the node placement process of the first attribute, in the node placement process of the second attribute, the control unit 330 can perform a node inspection process for inspecting a plurality of nodes placed on a specific map 1700. More detailed content will be described later.

[0241] On the one hand, there may be a need for the user to freely arrange nodes on a specific map 1700, rather than arranging nodes according to the node rules of a node group associated with the specific map 1700.

[0242] Accordingly, the present invention can provide a node placement process of a third attribute that can place nodes differently from the node rules corresponding to a node group specified in relation to a specific map 1700. The "node placement process of the third attribute" can also be named as the "manual node placement process".

[0243] The control unit 330 can place (or allocate) nodes based on a user selection for a specific area of a specific map 1700 output to the first area 1610 of the editing interface 1600.

[0244] The control unit 330 can place nodes on the specific map 1700 even when the node placement by user selection does not conform to the node rules of the node group associated with the specific map 1700.

[0245] Furthermore, even when nodes are placed by the node placement process of the third attribute, the control unit 330 can perform a node inspection process of inspecting a plurality of nodes placed on the specific map 1700, similar to the node placement process of the first attribute and the second node placement process. More detailed content regarding the inspection process will be described later.

[0246] On the other hand, as described above, in the present invention, based on the space characteristic information matched to a specific map 1700 of a specific floor, a node object associated with the specific map 1700 can be specified.

[0247] In the present invention, the spatial characteristic information matched to a specific map 1700 may be specified based on the characteristics of the space 10 corresponding to a specific floor being determined by the control unit 330 in the process of generating the specific map 1700, or may be specified based on information input by the administrator of the system 3000.

[0248] The specific map 1700 may consist of at least one of a two-dimensional or three-dimensional map for a specific floor, and may mean a map utilized to set the traveling route of the robot R.

[0249] At this time, the map may be a map created based on SLAM (Simultaneous Localization and Mapping) by at least one robot that moves through the space 10 in advance. That is, the map may be a map generated by vision (or visual)-based SLAM technology.

[0250] Hereinafter, a method for specifying spatial characteristic information based on the characteristics of the space 10 corresponding to a specific floor will be described together with the process of generating the specific map 1700.

[0251] As shown in (a) of FIG. 21a, when the robot R travels within the building 1000, it can perform a scan or sensing of the space within the building 1000. The cloud server 20 can control the traveling of the robot R so that the robot R performs sensing of the space within the building 1000.

[0252] In the present invention, the robot R that senses the space while traveling within the building 1000 can be variously named such as a "sensing robot", a "scanning robot", a "mapping robot", an "autonomous traveling robot", a "traveling robot", etc., and the information obtained by the robot R sensing (or scanning) the space can be variously named such as "sensing information", "scanning information", etc.

[0253] In the present invention, "sensing a space" can be understood as taking an image of the space 10 within the building 1000 using at least one sensor, or acquiring three-dimensional coordinate information (or three-dimensional position information) for an obstacle located above the space 10.

[0254] Here, the "obstacle" can mean a wall, ceiling (roof), floor, staircase, pillar, door, an object existing in the space 10 (e.g., another robot, etc.), and equipment that form the space 10.

[0255] In the present invention, among the obstacles existing above the space 10, an obstacle to which a certain horizontal area of the space 10 is fixedly assigned can be named a "static obstacle", and an obstacle to which a certain horizontal area is not fixedly assigned can be named a "dynamic obstacle". The robot R cannot travel in the area where the static obstacle is located, but can travel in the area where the dynamic obstacle is located when the dynamic obstacle moves out of the area.

[0256] For example, an elevator moves up and down (i.e., in a vertical area), but since a certain horizontal area is assigned on the space 10, in the present invention, the elevator can be understood as a static obstacle.

[0257] As another example, even when the robot R traveling in the space 10 stops in a certain area on the space 10, since a fixed horizontal area is not assigned, in the present invention, the robot R traveling in the space 10 can be expressed as a dynamic obstacle.

[0258] That is, the sensing information may include information on at least one of the moving obstacles and static obstacles within the building 1000.

[0259] On the one hand, the communication unit 310 according to the present invention can receive sensing information of a space sensed by at least one of the robot R traveling in the building 1000 and the cloud server 20 while the robot R is traveling in the building 1000. That is, the communication unit 310 can receive sensing information including information on at least one of static obstacles and dynamic obstacles located in the space within the building 1000.

[0260] The control unit 330 can generate a specific map 1700 using the sensing information acquired by the robot while traveling in the space 10. The function of generating a specific map 1700 using the sensing information can also be performed by at least one of the cloud server 20 and other external servers related to map generation. However, hereinafter, for the sake of convenience of explanation, it will be described that a specific map 1700 is generated by the map generation system 3000 according to the present invention.

[0261] As shown in FIG. 21a(b), the control unit 330 can detect obstacles O1, O2, O3, and O4 existing in the space based on the received sensing information. The control unit 330 can generate a point cloud map of the first characteristic for the obstacles included in a specific floor using the sensing information related to the specific floor among the sensing information.

[0262] Here, the point cloud map of the first characteristic can be understood as a map configured to include three-dimensional information on the obstacles included in a specific floor.

[0263] More specifically, the point cloud map of the first characteristic can be understood as a map composed of points having three-dimensional coordinates of the obstacles, which is generated by the point cloud technology based on the detection information on the obstacles detected (or sensed) from the sensing information. That is, the point cloud map of the first characteristic may be a map that three-dimensionally shows (or represents) the obstacles by points having three-dimensional coordinates.

[0264] Based on the detection information for the obstacle detected (or sensed) from the sensing information, the control unit 330 can generate points having three-dimensional coordinates for the obstacle by using the Point Cloud technology.

[0265] Here, the Point Cloud technology, also named point cloud data technology or point cloud technology, may mean a technology that provides a number of point clouds (or surveyed point groups) emitted from a sensor, reflected by a target, and returned to a receiver.

[0266] The point cloud (or surveyed point group) can be obtained by sampling for each location based on the central coordinate system (x, y, z).

[0267] Furthermore, the control unit 330 can generate a point cloud map of a second characteristic for the obstacle included in a specific floor by using the point cloud map of the first characteristic (which can also be named as "flattened point cloud map" or "two-dimensional sensing map (map)").

[0268] Here, the point cloud map M1 of the second characteristic may be defined as a map flattened from the point cloud map of the first characteristic with reference to the traveling plane of the robot traveling on the specific floor. That is, the point cloud map M1 of the second characteristic can be understood as a map including two-dimensional data obtained by converting the three-dimensional data included in the point cloud map of the first characteristic with reference to the traveling plane, as shown in (c) of FIG. 21a. Thus, in the present invention, the point cloud map M1 of the second characteristic can also be named as "flattened point cloud map" or "two-dimensional sensing information map".

[0269] The control unit 330 can convert the three-dimensional point cloud of the obstacle obtained using the point cloud technology into two-dimensional information P1 and P2 with reference to the traveling plane of the robot traveling on a specific floor, as shown in (c) of FIG. 21a. That is, the control unit 330 can convert the three-dimensional point cloud of the detected static obstacle into two-dimensional planarized information P1 and P2.

[0270] Furthermore, the two-dimensional information P1 and P2 included in the point cloud map M1 of the second characteristic may be the three-dimensional point cloud included in the point cloud map of the first characteristic converted into two-dimensional information with reference to the traveling plane. Thus, in the present invention, for convenience of explanation, the point cloud (or the point measurement group) included in the point cloud map of the first characteristic is named "three-dimensional point cloud", and the information included in the point cloud map of the second characteristic can be named "two-dimensional point cloud" or "planarized point cloud".

[0271] On the other hand, in the present invention, the sensing robot R can precisely sense an obstacle while traveling in the space within the building 1000. Accordingly, the sensing information received from the robot may include precise sensing information regarding the obstacles included in a specific floor.

[0272] More specifically, the sensing information may include a plurality of sensing element information sensing different partial regions of a specific obstacle. Here, the plurality of sensing element information may mean an infinite number of sensing information elements. For example, the sensing information may include an infinite number of plurality of sensing element information sensing different partial regions of a specific wall.

[0273] The control unit 330 can generate a point cloud map of the first characteristic corresponding to the actual structure (condition) of a specific floor based on the precise sensing information received from the robot R.

[0274] In the point cloud map of the first characteristic, a plurality of three-dimensional point clouds (or point measurement groups) corresponding to each of a plurality of sensing element information are mapped, and the shape formed by the plurality of three-dimensional point clouds (or point measurement groups) can correspond to the actual shape of the obstacles included in a specific floor.

[0275] That is, in the point cloud map of the first characteristic, a very large number of three-dimensional point clouds (or point measurement groups) may be mapped and exist such that the shape (or state) formed by the plurality of three-dimensional point clouds (or point measurement groups) corresponds to the actual shape of the obstacles on a specific floor.

[0276] Furthermore, based on the point cloud map of the first characteristic corresponding to the actual shape of the obstacles present on a specific floor, the control unit 330 can generate a point cloud map of the second characteristic corresponding to the actual shape of the obstacles included in the specific floor with reference to the traveling plane of the robot R.

[0277] That is, in the point cloud map of the second characteristic, a very large number of two-dimensional point clouds (or flattened point clouds) may be mapped such that the shape (or state) formed by the plurality of two-dimensional point clouds (flattened point clouds) corresponds to the actual shape (or structure) of a specific floor with reference to the traveling plane of the robot R.

[0278] In FIG. 21a (c), for convenience of explanation, a partial region of the point cloud map M1 of the second characteristic corresponding to the actual shape (or structure) of a specific floor is enlarged and shown, but the point cloud map 2100 of the second characteristic may include a plurality of precisely mapped two-dimensional point clouds as shown in FIG. 21b.

[0279] That is, in the point cloud map 2100 of the second characteristic, as shown in FIG. 21b, based on the traveling plane of the robot R, a plurality of two-dimensional point clouds may be precisely mapped so that the positions, shapes, and structures of obstacles included in a specific floor can be distinguished (or identified).

[0280] For example, as shown in FIG. 21b, in the point cloud map 2100 of the second characteristic, a plurality of two-dimensional point clouds may be precisely mapped and exist so that a specific obstacle (e.g., a wall or a specific space (e.g., ROOM) 2110, 2120) can be identified (or distinguished).

[0281] However, FIG. 21b also shows a simplified actual point cloud map of the second characteristic. Needless to say, in the point cloud map of the second characteristic described in the present invention, a plurality of two-dimensional point clouds are mapped more densely and precisely.

[0282] On the other hand, as described above, in the present invention, based on the spatial characteristic information matched to the specific map 1700, a node group related to the specific map 1700 can be specified.

[0283] Here, the "characteristics of the space" can be understood as various elements that can affect the operation and traveling of the robot R by at least one of the structure of the space 10, the facilities arranged in the space 10, and the situation of the space 10.

[0284] The point cloud map M1 of the second characteristic includes the point clouds P1, P2 of the second characteristic for the obstacles detected from the sensing information directly sensed by the robot R. However, in order to more accurately specify the nodes related to the specific map 1700, more accurate and detailed specific map 1700 and spatial characteristic information may be required.

[0285] Accordingly, in the present invention, as shown in FIGS. 21a(d) and 21a(e), by using all of the point cloud map M1 of the second characteristic and various information (e.g., building drawings) M2 for the space 10, a more accurate and detailed map M3 and spatial characteristic information can be generated.

[0286] More specifically, the control unit 330 can connect a plurality of point clouds of the second characteristic linked to each other in the point cloud map M1 of the second characteristic, and extract (generate or acquire) a graphic object for an obstacle. At this time, the graphic object may be a graphic object for at least one of a dynamic obstacle and a static obstacle.

[0287] For example, as shown in FIG. 22, the control unit 330 connects the first group of point clouds of the second characteristic related to the first obstacle to each other in the point cloud map M1 of the second characteristic to extract a graphic object 2210 related to the first obstacle, and connects the second group of point clouds of the second characteristic related to the second obstacle to each other to acquire a graphic object 2220 related to the second obstacle.

[0288] Furthermore, the control unit 330 can generate a specific map 1700 including graphic objects corresponding to each of the static obstacles included in a specific floor, as shown in FIG. 16, by using the point cloud map M1 of the second characteristic including at least one graphic object 2210, 2220 and the spatial meta information for the space 10.

[0289] In the present invention, the static obstacles included in a specific floor may include at least one of a wall, a door, a ceiling (roof), a bottom, a staircase, a pillar, a room (Room) composed of the wall, etc., and facilities that make up the specific floor.

[0290] Furthermore, the facility (or facility infrastructure) is a facility provided in Building 1000 for service provision, robot movement, function maintenance, cleaning maintenance, etc. Its types and forms are very diverse. For example, i) an elevator (refer to reference numeral 204 in Figure 2) configured to be available for at least one of a robot and a person traveling on a specific floor, ii) an escalator (refer to reference numeral 205 in Figure 2), iii) an entrance door or an access control gate (refer to reference numerals 206 and 207 in Figure 2), iv) a robot movement passageway (a dedicated robot road and a shared robot road, refer to reference numerals 201 and 202 in Figure 2), v) a charging facility (e.g., a charger, refer to reference numeral 209 in Figure 2), vi) a cleaning facility (refer to reference numeral 210 in Figure 2), and vii) a waiting space facility corresponding to a waiting space where a robot waits (refer to reference numeral 208 in Figure 2) may be included.

[0291] Furthermore, "spatial meta-information" is various information reflecting the spatial characteristics of static obstacles in Space 10. For example, it may be i) drawing information (a drawing image or a drawing, refer to reference numeral 2310 in (a) of Figure 23a), ii) spatial linkage information (refer to reference numeral 2320 in (b) of Figure 23a).

[0292] Here, the drawing information 2310 is information regarding a drawing reflecting the spatial characteristics of a specific floor, and may include information on the structure, position, type (or kind), attribute, characteristics, etc. of static obstacles included in the specific floor.

[0293] Furthermore, the spatial linkage information 2320 is various information including the spatial characteristics of a specific floor in addition to the drawing information 2310, and includes information on the structure, position, type (or kind), attribute, characteristics, etc. of static obstacles included in the specific floor, and can be named variously such as "information regarding Space 10", "spatial linkage information", "spatial correlation information", "spatial description information", "spatial area information", etc.

[0294] The control unit 330 can generate a specific map 1700 that reflects static obstacles included in a specific floor by using spatial meta-information (e.g., drawing) that reflects characteristics with respect to static obstacles in the space 10 of a specific floor and a point cloud map M1 of the second characteristic.

[0295] In the present invention, the "specific map 1700 including spatial characteristics" can be used interchangeably with the "specific map 1700 including spatial characteristic information" or the "specific map 1700 in which spatial characteristic information is matched" and the "spatial characteristic information regarding the specific map 1700". That is, in the present invention, the fact that the specific map 1700 includes the characteristics of the space 10 can mean that spatial characteristic information is reflected in the specific map 1700 itself, that the specific map 1700 and the spatial characteristic information are matched with each other and stored in the storage unit 320, or that spatial characteristic information regarding the specific map 1700 is generated (or derived).

[0296] More specifically, based on the fact that information corresponding to specific graphic objects 2210 and 2220 included in the point cloud map M1 of the second characteristic is included in the spatial meta-information (e.g., drawing information) 2310, the control unit 330 identifies the graphic objects included in the point cloud map M1 of the second characteristic as static obstacles in the space 10, and can reflect graphic objects corresponding to the identified static obstacles in the specific map 1700.

[0297] For example, based on the fact that information corresponding to the first graphic object 2210 included in the point cloud map M1 of the second characteristic in terms of position and pattern is included in the drawing information 2310, the control unit 330 identifies the first graphic object as a static obstacle in the space 10, and can reflect (arrange or display) a graphic object corresponding to the static obstacle (or the first graphic object) in the specific map 1700.

[0298] Furthermore, when information that partially corresponds to a specific graphic object included in the point cloud map M1 of the second characteristic is included in the spatial meta information, the control unit 330 can change (or modify) the graphic object included in the point cloud map M1 of the second characteristic based on the spatial meta information, identify the graphic object as a static obstacle in the space 10, and reflect a graphic object corresponding to the identified static obstacle in a specific map 1700.

[0299] For example, when information that partially corresponds to the position and shape of the second graphic object 2220 included in the point cloud map M1 of the second characteristic is not included in the drawing information 2310, the control unit 330 can change (or modify) the second graphic object 2220 based on the information included in the drawing information 2310, identify the graphic object as a static obstacle in the space 10, and reflect a graphic object corresponding to the identified static obstacle in a specific map 1700.

[0300] Furthermore, when information corresponding to a specific graphic object included in the point cloud map M1 of the second characteristic is not included in the spatial meta information, the control unit 330 can determine that the graphic object included in the point cloud map M1 of the second characteristic is for a dynamic obstacle, and it may not be reflected in a specific map 1700.

[0301] Furthermore, the control unit 330 can identify the type (or kind) of static obstacles included in a specific floor based on the spatial meta information (e.g., drawing) 2310 that reflects the spatial characteristics of the specific floor.

[0302] Furthermore, the control unit 330 can map type information (or kind information) for the type (or kind) of each static obstacle corresponding to each graphic object included in a specific map 1700. Hereinafter, the case where the static obstacle is equipment will be described as an example.

[0303] The control unit 330 can identify the facilities arranged in the space 10 by combining the graphic objects 1910 and 1920 included in the point cloud map M1 with the second characteristic and the spatial meta-information, and map the type information (or type information) of the identified facilities to a specific map 1700.

[0304] Here, mapping the type information of the facilities to a specific map 1700 can be understood as displaying the facility type information on the specific map 1700 or storing the facility type information in the storage unit 320 in cooperation with the specific map 1700.

[0305] More specifically, based on the fact that the information corresponding to a specific graphic object included in the point cloud map M1 with the second characteristic is included in the spatial meta-information, the control unit 330 can map the type information of the facilities included in the spatial meta-information to the graphic object of a specific map 1700 corresponding to the specific graphic object.

[0306] Furthermore, based on the fact that the information corresponding to the graphic object included in a specific map 1700 is included in the spatial meta-information, the control unit 330 can map the type information of the facilities included in the spatial meta-information to the graphic object of the specific map 1700.

[0307] For example, based on the fact that the information (e.g., "7th floor, Area A1") 2321 corresponding to the position of the first graphic object included in the point cloud map M1 with the second characteristic is included in the spatial association information, the control unit 330 can map the type information (or type information) regarding the robot elevator facility ("Robot E / V") 2322 to the graphic object of a specific map 1700 corresponding to the first graphic object 2210.

[0308] On the one hand, in the present invention, the "graphic object included in the specific map 1700" and the "type information (or type information) of the static obstacle mapped to the graphic object included in the specific map 1700" can be understood to mean the spatial characteristics (or spatial characteristic information) matched to the specific map 1700 described above.

[0309] On the other hand, as shown in FIG. 23b, the drawing information for a specific space 10 may consist of a plurality of layers including different information for the specific space 10.

[0310] In the present invention, to avoid confusion of terms, each of the plurality of drawing layers including different information for the specific space 10 can be described as sub-drawing information 2330, 2340.

[0311] The sub-drawing information 2330, 2340 can be understood as drawing information related to at least one of various types of information regarding the characteristics of the space. That is, at least one of the plurality of elements constituting the characteristics of the space 10 may be displayed in the sub-drawing information 2330, 2340.

[0312] More specifically, the first sub-drawing information 2330 may include drawing information in which information regarding at least one (for example, a wall) of the plurality of components constituting the space 10 is reflected.

[0313] For example, as shown in FIG. 23b (a), a plurality of spaces (or sub-spaces 10 or rooms) 2331, 2332 composed of walls may be displayed in the first sub-drawing information 2330.

[0314] Furthermore, the second sub-drawing information 2340 may include drawing information in which information regarding the facilities arranged in the space 10 is reflected. More specifically, in the second sub-drawing information 2340, a graphic object indicating the facilities arranged on the space 10 may be displayed on the area corresponding to the location where the facilities are arranged.

[0315] For example, as shown in (b) of FIG. 23b, on the second sub-drawing information 2340, a graphic object 2341 indicating an elevator facility is displayed on a region corresponding to the actual space (or location) where the elevator facility is arranged, and a graphic object 2342 indicating a charger facility may be displayed on a region corresponding to the actual space (or location) where the charger facility is arranged.

[0316] The control unit 330 can generate a specific map 1700 that includes only the core information necessary for the assignment of a node group by matching at least one sub-drawing information regarding the information necessary for the assignment of a node group related to a specific map 1700 with the point cloud map M1 of the second characteristic.

[0317] For example, when the control unit 330 generates a specific map 1700 related to the first floor, it matches the first sub-drawing information 2330 with the point cloud map M1 of the second characteristic to generate a specific map 1700 including the characteristics of the space on the first floor. When generating a specific map 1700 related to the second floor, it can match the second sub-drawing information 2340 with the point cloud map M1 of the second characteristic to generate a specific map 1700 including the characteristics of the space on the second floor.

[0318] Thus, in the present invention, by generating a specific map 1700 by matching the point cloud map M1 of the second characteristic with at least one sub-drawing information regarding various information related to the characteristics of the space, an extra calculation process can be reduced in the generation process of the specific map 1700, and the data efficiency can be improved.

[0319] On the other hand, in the present invention, the space characteristic information input from a system administrator (hereinafter referred to as "user") can be reflected on a specific map 1700.

[0320] As shown in FIG. 24, the control unit 330 can provide the editing interface 1600 on the user's electronic device 50 so that the user can reflect the spatial characteristic information on a specific map 1700.

[0321] For example, the control unit 330 can provide both the point cloud map M1 of the second characteristic and the spatial meta information (e.g., drawing information) 2310 on the editing interface 1600 so that the user can compare them with each other (see FIG. 25).

[0322] In this case, as shown in FIG. 25, the control unit 330 can provide confirmation request information 2530 (e.g., "Static obstacles different from the drawing of building 1000 have been detected in area A5 on the 7th floor. Confirmation is required.") on the editing interface 1600 to request confirmation for information that does not correspond to each other between the point cloud map M1 of the second characteristic and the spatial meta information (e.g., drawing information) 2310.

[0323] For example, if the point cloud map M1 of the second characteristic includes a group 2510 of point clouds in an area, while the drawing information 2310 has no information about static obstacles in the area 2520 corresponding to the said area, the control unit 330 can output the confirmation request information 2530 on the editing interface 1600.

[0324] As another example, the control unit 330 may provide the point cloud map M1 of the second characteristic and the spatial meta information (e.g., drawing information) 2310 overlapping each other on the editing interface 1600 so that the user can intuitively recognize whether they correspond to each other.

[0325] Based on receiving spatial characteristic information for a specific floor from the electronic device 50, the control unit 330 may reflect the received spatial characteristic information on a specific map 1700 related to the specific floor, or may update the previously reflected spatial characteristic information using the received spatial characteristic information.

[0326] For example, as shown in FIG. 24, when the user inputs spatial characteristic information related to a "conference room" on a specific floor through the editing interface 1600, the control unit 330 can reflect (e.g., modify or update 2410) the spatial characteristic information related to the "conference room" input by the user on the specific map 1700.

[0327] Thus, in the present invention, not only can the control unit 330 generate a specific map 1700 using the sensing information sensed by the robot R in the building 1000 and the spatial meta-information for the space 10, but also provide a user interface that allows the user to generate the specific map 1700. Thereby, the user may directly generate and update the specific map 1700 so that the specific map 1700 can more accurately reflect the actual situation of the space.

[0328] On the other hand, in the present invention, a node inspection process for inspecting a plurality of nodes arranged on the specific map 1700 can be performed.

[0329] Based on the completion of the arrangement of the nodes according to the node rules corresponding to the types of graphic objects included in the specific map 1700, the control unit 330 can perform an inspection process for inspecting whether to arrange the nodes according to the node rules on the specific map.

[0330] Such a node inspection process can perform either one of the first-attribute node inspection process and the second-attribute node inspection process depending on whether the nodes are arranged on the specific map 1700 according to the node rules.

[0331] First, the node verification process for the first attribute is a verification process that is processed when a node is arranged on a specific map 1700 according to node rules, and can be performed when a node is arranged by any one of the node arrangement processes for the first attribute (or automated node arrangement process) and the node arrangement process for the second attribute (or semi-automated node arrangement process) described above.

[0332] When a node is arranged on a specific map 1700 according to node rules, the control unit 330 can perform the node verification process for the first attribute so as to receive approval for the arrangement of the node according to the node rules from a pre-specified verification entity (e.g., user or system administrator).

[0333] The pre-specified verification entity may correspond to, for example, a user regarding a specific map 1700. The pre-specified verification entity can approve the arrangement of the node according to the node rules or change the node arrangement according to the actual situation of the space 10 through the node verification process for the first attribute provided in the present invention.

[0334] As shown in FIG. 26, the control unit 330 may visually highlight at least one node group area 2610 including the nodes arranged according to the node rules so that the pre-specified verification entity can identify and verify the area where the nodes are arranged according to the node rules.

[0335] Furthermore, in cooperation with the highlighting process, the control unit 330 can output verification request information (e.g., "Nodes have been arranged in the robot E / V dense space according to the node creation guide. Confirmation is required.") 2620 for requesting the pre-specified verification entity to verify the node group area 2610 on the editing interface 1600.

[0336] Furthermore, the control unit 330 outputs information regarding the node rules applied to the node group area 2610 on the editing interface 1600, so that a pre-specified inspection entity can immediately check the node rules applied to the node group area 2610.

[0337] Furthermore, the control unit 330 can provide a function icon (e.g., "Node Application") for receiving approval of the node arrangement according to the node rules applied to the node group area 2610 or a function icon (e.g., "Node Editing") for changing the node arrangement of the nodes included in the node group area 2610 on the editing interface 1600.

[0338] When the arrangement of the nodes according to the node rules is approved through the inspection process of the first attribute, the control unit 330 can update a specific map 1700 including the nodes according to the node rules to the cloud server 20 so that the robot R travels based on the specific map 1700 including the nodes according to the node rules.

[0339] For example, the control unit 330 can update a specific map 1700 including the nodes according to the node rules to the cloud server 20 based on the user selection for the function icon (e.g., "Node Application") for receiving approval of the node arrangement according to the node rules.

[0340] Furthermore, the control unit 330 can provide an editing interface 1600 that can change the node arrangement based on the user selection for the function icon (e.g., "Node Editing") for changing the node arrangement.

[0341] Next, the node inspection process of the second attribute is an inspection process that is processed when the nodes are not arranged on a specific map 1700 according to the node rules, and can be performed when the nodes are arranged by the above-described node arrangement process of the third attribute (or the manual node arrangement process).

[0342] As shown in FIG. 27, when the nodes 2731, 2732, and 2733 arranged on a specific map 1700 do not conform to the node rules matched to the spatial characteristics (or static obstacles) regarding the specific map 1700, the control unit 330 may visually highlight at least one node group area 2710 that includes nodes not arranged according to the node rules.

[0343] Furthermore, in cooperation with the highlighting process, the control unit 330 can output inspection request information (e.g., "The nodes arranged in the robot E / V dense space are different from the node creation guide. Confirmation is required.") 2720 on the editing interface 1600 to request the inspection of a pre-specified inspection entity for the node group area 2710.

[0344] Furthermore, the control unit 330 outputs information regarding the node rules for the node group area 2710 on the editing interface 1600 so that a pre-specified inspection entity can immediately confirm how the nodes 2731, 2732, and 2733 arranged in the node group area 2710 differ from the node rules.

[0345] Furthermore, the control unit 330 can provide an icon (e.g., "Apply guide information") for rearranging nodes according to the node rules related to the node group area 2710, or a function icon (e.g., "Node editing") for changing the node arrangement of the nodes included in the node group area 2710 on the editing interface 1600.

[0346] Through the inspection process of the second attribute, when the nodes are rearranged according to the node rules, the control unit 330 can update the specific map 1700 including the nodes conforming to the node rules to the cloud server 20 so that the robot R travels based on the specific map 1700 including the nodes conforming to the node rules.

[0347] The map generation method and system for robot operation according to the present invention can provide an editing interface including at least a part of a specific map corresponding to the specific floor on a display unit of an electronic device in response to receiving a map editing request for a specific floor among a plurality of floors of a building. Thereby, the user can generate and edit a specific map for each floor with respect to a building composed of a plurality of floors. Thereby, the user can also generate and modify a customized map for each floor reflecting the characteristics of each floor with respect to a building composed of a plurality of floors.

[0348] Furthermore, the map generation method and system for robot operation according to the present invention can assign a graphic object on a specific map included in the editing interface based on editing information received from the electronic device. Thereby, since the user can create and edit a map only by assigning a graphic object to the editing interface, even an unskilled user can create and edit a map conveniently and simply.

[0349] Furthermore, the map generation method and system for robot operation according to the present invention can update a specific map to which a graphic object is assigned to a cloud server so that the robot travels on the specific floor according to the attributes of the graphic object assigned on the specific map. Thereby, the robot can efficiently travel according to the global plan without dealing with a complex environment based on a map reflecting the interactions between robots, between robots and humans, and between robots and various facility infrastructures arranged in the building.

[0350] On the one hand, in response to receiving a map editing request for a specific floor among a plurality of floors of a building, the map generation method and system for operating a robot according to the present invention can provide an editing interface including at least a part of a specific map corresponding to the specific floor on a display unit of an electronic device. Thereby, a user can generate and edit a specific map for each floor with respect to a building composed of a plurality of floors. Thereby, the user can generate and modify a map customized for each floor while accurately reflecting the characteristics of each floor even with respect to a building composed of a plurality of floors.

[0351] Furthermore, the map generation method and system for operating a robot according to the present invention can identify at least one node group assignable on a specific map based on a node rule corresponding to the spatial characteristics of a specific floor, and perform a node placement process so that nodes included in the identified node group are placed. Thereby, in the present invention, by accurately and quickly reflecting the spatial characteristics of a specific floor, a map for safe travel of a robot can be generated.

[0352] Furthermore, the map generation method and system for operating a robot according to the present invention can provide a user interface capable of assigning nodes on a specific map based on a node rule corresponding to the spatial characteristics of a specific floor, so that even an unskilled user can generate a map while accurately and quickly reflecting the spatial characteristics of the specific floor. Furthermore, a robot-friendly building according to the present invention can provide a new space in which such technologies, robots, and facility infrastructure provided in the building are organically combined by using technological convergence in which robots, autonomous driving, AI, and cloud technologies are integrated and linked.

[0353] Furthermore, the robot-friendly building according to the present invention can systematically manage the running of robots that provide services more systematically by organically controlling a plurality of robots and facility infrastructure using a cloud server in cooperation with the plurality of robots. As a result, the robot-friendly building according to the present invention can provide various services to people more safely, quickly, and accurately.

[0354] Furthermore, the robot applied to the building according to the present invention can be realized in a brainless form controlled by a cloud server. According to this, a plurality of robots arranged in the building can be manufactured inexpensively without expensive sensors and can be controlled with high performance / high precision.

[0355] Furthermore, in the building according to the present invention, not only the tasks and movement status assigned to a plurality of robots arranged in the building are considered, but also the movement is controlled in consideration of people, so that robots and people can coexist naturally in the same space.

[0356] Furthermore, in the building according to the present invention, various controls are performed to prevent accidents caused by robots and to respond to unexpected situations, so that people can be made to recognize that robots are not dangerous but are friendly and safe.

[0357] On the other hand, the present invention discussed above can be realized as a program executed by one or more processes in a computer and storable in a computer-readable medium such as this.

[0358] Furthermore, the present invention discussed above can be realized as computer-readable code or instruction words on a medium on which a program is recorded. That is, various control methods according to the present invention can be provided in the form of a program, either integrated or individually.

[0359] On the one hand, a computer-readable medium includes any type of recording device in which data readable by a computer system is stored. Examples of computer-readable media include HDD (Hard Disk Drive), SSD (Solid State Disk), SDD (Silicon Disk Drive), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage devices, and the like.

[0360] Furthermore, the computer-readable medium may include storage, which may be a server or cloud storage that can be accessed by an electronic device through communication. In this case, the computer can download the program according to the present invention from the server or cloud storage through wired or wireless communication.

[0361] Furthermore, in the present invention, the above-mentioned computer is an electronic device equipped with a processor, that is, a CPU (Central Processing Unit, central processing unit), and there is no particular limitation on its type.

[0362] On the one hand, the above detailed description should not be construed as limiting in all respects, but should be considered as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included in the scope of the present invention.

Claims

1. Receiving a map editing request for a specific floor among a plurality of floors of a building; In response to the editing request, providing an editing interface including at least a part of a specific map corresponding to the specific floor on a display unit of an electronic device; Identifying at least one node group assignable on the specific map based on a node rule corresponding to a spatial characteristic of the specific floor; Performing a node placement process so that nodes included in the node group are placed on the specific map. A map generation method characterized by including the above steps.

2. Further including a step of generating the specific map, The step of generating the specific map includes: Receiving sensing information for at least one of dynamic obstacles and static obstacles in the building from a robot traveling in the building; Generating a point cloud map of a first characteristic for obstacles included in the specific floor using the sensing information regarding the specific floor among the sensing information; Generating a point cloud map of a second characteristic for obstacles included in the specific floor using the point cloud map of the first characteristic. The map generation method according to claim 1, characterized by including the above steps.

3. The point cloud map of the first characteristic is configured to include three-dimensional information for obstacles included in the specific floor, The point cloud map of the second characteristic includes two-dimensional information for obstacles included in the specific floor based on the three-dimensional information, The point cloud map of the second characteristic is Flattened from the point cloud map of the first characteristic with reference to a traveling plane of a robot traveling on the specific floor. The map generation method according to claim 2, characterized by the above.

4. The step of generating the specific map includes: Further including a step of generating the specific map reflecting static obstacles included in the specific floor using a drawing reflecting the spatial characteristic of the specific floor and the point cloud map of the second characteristic, In the specific map, Including graphic objects corresponding to respective static obstacles included in the specific floor. The map generation method according to claim 3, characterized by the above.

5. The step of generating the specific map includes: identifying the types of static obstacles included in the specific floor based on a drawing reflecting the spatial characteristics of the specific floor; and further includes mapping, for each graphic object, type information for the type of static obstacle corresponding to each graphic object, and the map generation method according to claim 4 is characterized in that.

6. The static obstacles included in the specific floor include at least one of walls, doors, and facilities constituting the specific floor, and include at least one of an elevator, an escalator, an access control gate, a dedicated robot path, and a shared robot path configured so that at least one of a robot and a person traveling on the specific floor can be used, and the map generation method according to claim 5 is characterized in that.

7. In the database of the server, node rule information in which the types of static obstacles and the node rules defined for each type of static obstacle are mapped to each other is stored, In the step of identifying the node group, extracting the node rule mapped to the type of static obstacle corresponding to the graphic object from the database, and identifying the node group in which at least one node is arranged according to the extracted node rule, and the map generation method according to claim 5 is characterized in that.

8. The node group is characterized in that at least one of the number of nodes, the arrangement form of the nodes, and the connection direction between the nodes defining the moving direction of the robot is different according to the type of the graphic object, and the map generation method according to claim 7 is characterized in that.

9. When the specific map includes a first graphic object corresponding to a first type of static obstacle and a second graphic object corresponding to a second type of static obstacle, In the step of performing the node placement process, nodes of a first node group according to the node rule corresponding to the first type of static obstacle are placed in a first area of the specific map where the first graphic object is included, The method for generating a map according to claim 8, characterized in that nodes of a second node group according to a node rule corresponding to the second type of static obstacle are arranged in a second region including the second graphic object among the specific maps.

10. Further comprising an inspection process for inspecting whether to arrange nodes according to the node rule on the specific map based on completion of arranging nodes according to the node rule corresponding to the type of graphic object included in the specific map, The method for generating a map according to claim 7, characterized in that when the arrangement of nodes according to the node rule is approved through the inspection process, the specific map including the nodes according to the node rule is updated to the server.

11. In the step of performing the inspection process, The method for generating a map according to claim 10, characterized in that at least one node group region including nodes arranged according to the node rule is visually highlighted so that a pre-specified inspection entity can identify and inspect the region where the nodes are arranged according to the node rule.

12. The step of performing the node arrangement process The method for generating a map according to claim 8, further comprising the step of providing guide information for notifying that at least one node corresponding to the specific node group can be arranged in the region where the graphic object is located.

13. The guide information Includes array information indicating an array of at least one node constituting the specific node group and an icon for receiving approval of the arrangement of the nodes constituting the specific node group. When the icon is selected via the electronic device, The method for generating a map according to claim 12, characterized in that at least one node constituting the specific node group is arranged in the region where the graphic object is located.

14. The guide information The method for generating a map according to claim 13, characterized in that it is output based on selection of the region where the graphic object is located from the specific map by the electronic device.

15. A communication unit that receives a map editing request for a specific floor among a plurality of floors of a building, A control unit that provides an editing interface including at least a part of a specific map corresponding to the specific floor on a display unit of an electronic device in response to the editing request, is included. The control unit identifies at least one node group assignable on the specific map based on a node rule corresponding to the spatial characteristics of the specific floor, A map generation system, characterized in that a node placement process is performed so that nodes included in the node group are arranged on the specific map.

16. A program executed by one or more processes in an electronic device and stored in a computer-readable recording medium, The program receives a map editing request for a specific floor among a plurality of floors of a building, provides an editing interface including at least a part of a specific map corresponding to the specific floor on a display unit of an electronic device in response to the editing request, identifies at least one node group assignable on the specific map based on a node rule corresponding to the spatial characteristics of the specific floor, A program stored in a computer-readable recording medium, characterized in that it includes instruction words capable of performing a node placement process so that nodes included in the node group are arranged on the specific map.

17. In a building where a plurality of robots provide services, The building has a plurality of floors with indoor spaces where the robots coexist with people, and includes a communication unit that communicates between the robot and a cloud server. The cloud server controls the robot traveling in the building based on a building map generated through an editing interface, The building map receives a map editing request for a specific floor among a plurality of floors of a building, provides an editing interface including at least a part of a specific map corresponding to the specific floor on a display unit of an electronic device in response to the editing request, identifies at least one node group assignable on the specific map based on a node rule corresponding to the spatial characteristics of the specific floor, A step of performing a node placement process so that nodes included in the node group are arranged on the specific map, and is generated by In the cloud server, A building, characterized in that the specific map on which the nodes are arranged is updated so that the robot travels on the specific floor along the nodes arranged on the specific map.

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